• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Omnidirectional platform. Platform comprising a first module (1) with a first driving wheel (10) and a second driving wheel (20) faced and coaxial; a second module (2) composed of a main frame (2a) and an auxiliary frame (2b) articulated together by an articulated joint (70), the main frame (2a) being supported on the first module (1) by a third tree (31) vertical and on two rolling elements (40) of free rotation and self-adjustable, and the auxiliary frame (2b) being supported on the articulated joint (70) and on two rolling elements (40) of rotation free and self-adjustable; wherein the articulated joint (70) is provided with a degree of freedom or two degrees of freedom, and the platform includes at least one suspension device (50). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2699407A1
    申请号:ES201730977
    申请日:2017-07-26
    公开日:2019-02-11
    发明作者:Gil Juan José Canuto；Mestres Carles Domènech
    申请人:Universitat Politecnica de Catalunya UPC；
    IPC主号:
    专利说明:

    [0001]
    [0002] Omnidirectional platform.
    [0003]
    [0004] Field of technique
    [0005]
    [0006] The present invention concerns the field of omnidirectional platforms and conveyors. It will be understood that an omnidirectional platform is a mobile vehicle that can move in any horizontal direction, while an omnidirectional conveyor will be understood to be a non-displaceable device that allows moving a load in any horizontal direction within its range of action.
    [0007]
    [0008] The platform and the proposed conveyor are of the type that achieve said omnidirectional capacity using only simple motorized wheels arranged and controlled in a way that allows said omnidirectionality, without the need to use complex wheels such as spherical wheels, compound wheels, wheels with lateral translation capacity, etc.
    [0009] State of the art
    [0010]
    [0011] Document EP0716974 describes an omnidirectional platform which, according to the embodiment shown in Figs. 22 and 23 of said document, includes a first module provided with two coaxial and opposed driving wheels, said first module being connected through a vertical shaft with a second module supported on four spherical wheels. The controlled drive of the drive wheels of the first module and the rotation of the vertical shaft allows obtaining an omnidirectional displacement of the omnidirectional platform, allowing any displacement of translation and any rotation of the second module. However, the solution described in this document lacks the means to ensure a correct contact of the driving wheels with the ground in case the platform circulates on irregular terrains, and one or both of them may skid when momentarily separated from the ground, producing a loss of traction, being able to even be the embarrassed platform.
    [0012]
    [0013] It is also known document ES2226560 which describes a mobile platform equipped with a main frame supported on two self-orientating freewheeling wheels and a fixed-wheel drive wheel, and which therefore can only drive the platform forward or backward , and also provided with an auxiliary frame supported on the main frame to which it joins by means of an articulated joint, and also supported on two free-rotating self-adjusting wheels.
    [0014]
    [0015] The aforementioned platform allows to adapt to uneven terrain, maintaining at all times the contact of the driving wheel with the terrain, thanks to the fact that the main frame only has three points of contact with the ground, the two freewheeling wheels and the wheel fixed orientation motor. If said platform had more than three wheels that offered points of contact with the land, it would cease to make sure that this contact with the land is maintained at all times.
    [0016]
    [0017] Furthermore, said platform does not have the capacity to move in an omnidirectional way, since its lateral translation is impossible.
    [0018]
    [0019] BRIEF DESCRIPTION OF THE INVENTION
    [0020]
    [0021] The present invention concerns an omnidirectional platform. An omnidirectional platform is a mobile vehicle that can move in any horizontal direction, that is to say forward, backward, sideways by lateral translation, diagonally, etc., and also make turns on itself
    [0022]
    [0023] The proposed omnidirectional platform comprises, in a known way:
    [0024]
    [0025] • a first module that defines a turning center of the omnidirectional platform in which a coordinate origin with an X axis, a Y axis and a Z axis orthogonal to each other is located, said first module having:
    [0026]
    [0027] • at least one first drive wheel connected to a first horizontal shaft parallel to the X axis and a second driving wheel connected to a second horizontal shaft parallel to the X axis, both first and second coplanar axes having the same plane parallel to the Z axis, said separate plane being a distance D from the axis Z, the first drive wheel being actuated by a first actuator, and the second drive wheel being actuated by a second actuator;
    [0028]
    [0029] • a second horizontal module connected to said first module by means of a third vertical shaft coaxial with the Z axis, the relative rotation of the second module and the first module being actuated by a third actuator;
    [0030]
    [0031] • a control device connected to the first, second and third actuators to control its coordinated actuation configured to obtain an omnidirectional displacement of the platform by means of precise control of the displacement of the center of rotation, obtained by actuating the first and second actuators, and by precise control of the orientation of the second module by the precise actuation of the third actuator;
    [0032]
    [0033] Therefore the proposed omnidirectional platform includes a second module that defines a loading platform rotatably connected to a first module that integrates a first and second drive wheels whose axes are coplanar on a vertical plane spaced apart from the axis of rotation between the first and second axes. second modules.
    [0034]
    [0035] The independent drive of the two driving wheels and their control from the control device allow determining a forward and backward movement of the omnidirectional platform, in a straight line if both first and second wheels rotate at the same tangential speed or determining a rotation of the platform omnidirectional if different tangential speeds are obtained in both driving wheels.
    [0036]
    [0037] Furthermore, said first and second wheels are spaced from the third rotation shaft, coaxial to the vertical Z-axis a distance D, said third shaft determining the rotation of the first module with respect to the second module. This characteristic, together with the precise control of the first, second and third actuators, allows that a displacement of the first module governed by a tangential speed different from the first and second driving wheels, determines a displacement of lateral translation of the center of rotation of the platform , allowing that if the rotation of said center of rotation is compensated for by actuating the third actuator, the second module has a transverse displacement.
    [0038]
    [0039] In other words, by means of the combination of the precise and independent control of the advance and retraction of the first and second wheels, a displacement of the center of rotation of the first module in any direction can be produced without using complex wheels that allow lateral translation, as for example spherical wheels or compound wheels. By adding control of the rotation of the second module with respect to the first module around the third tree, an omnidirectional platform is obtained.
    [0040] The proposed omnidirectional platform also includes, in an innovative way, the following characteristics:
    [0041]
    [0042] • the second module is composed of a main frame and an auxiliary frame articulated to each other by an articulated joint, the main frame being supported on the third vertical shaft of the first module and also supported on two self-rotating and self-rotating rolling elements. orientable, and the auxiliary frame being supported on the articulated joint and on two free-rotating and self-adjusting rolling elements;
    [0043]
    [0044] • wherein the auxiliary frame is partially superimposed on the main frame defining a load plane, the articulated joint having a degree of freedom around a horizontal axis, or being provided with two degrees of freedom around two horizontal orthogonal articulation axes between yes, wherein at least one suspension device is interposed between the first and second drive wheels and the main frame, and / or between the two free-running rolling elements of the main frame and the main frame itself.
    [0045]
    [0046] Thus, the main frame is supported on three elements that provide stability. On the one hand it is supported on the first module through the third vertical shaft, said first module providing the traction and the direction by the precise control of the first and second driving wheels, and on the other hand it is supported on two rolling elements of rotation free.
    [0047]
    [0048] It will be understood that a rolling element is a wheel or similar that allows the transmission of vertical loads on a point of contact with the ground, while allowing a horizontal displacement without friction or with a negligible friction. Said rolling element may have two degrees of freedom of horizontal displacement with little friction, such as for example a spherical wheel, or more preferably a single horizontal degree of freedom with little friction said self-orienting rolling element being in the direction of travel, as per example a self-adjusting wheel.
    [0049] An auxiliary frame is also supported on three elements that provide stability. On one side it is supported on the main frame, and on the other hand it is supported on two free-running rolling elements.
    [0050]
    [0051] The connection between the auxiliary frame and the main frame will consist of an articulated joint with a degree of freedom around a horizontal axis, ie for example a hinge or hinge whose axis is horizontal that allows a tilting movement of the auxiliary frame with respect to to the main frame, forming or altering an angle that they form with respect to a vertical plane.
    [0052]
    [0053] Alternatively said articulated joint will be provided with two degrees of freedom around two horizontal articulation axes orthogonal to each other. This type of articulation allows a tilting movement of the auxiliary frame with respect to the main frame, forming or altering two angles forming between them with respect to two vertical perpendicular planes.
    [0054] In either of the two alternatives said articulated joint will not allow to modify the angular position of the auxiliary frame with respect to the main frame around a vertical axis, so that a rotation of the main frame will be transmitted to the auxiliary frame.
    [0055]
    [0056] The proposed omnidirectional platform will therefore have a total of four rolling elements of free rotation, preferably in the four corners of the second module, and a first module provided with a first and a second drive wheel, said first module preferably being confined between the four rolling elements and disposed below the second module.
    [0057]
    [0058] Therefore the set of rolling elements and the first and second drive wheels make a total of six points of support of the omnidirectional platform with the ground. In addition, the main frame will have four support points, two corresponding to the two free-wheeling elements and another two corresponding to the first and second driving wheels of the first module.
    [0059]
    [0060] In order to guarantee a correct contact on said floor of the said four points of support of the main frame even when the ground is irregular, and thus guarantee the contact of the first and second driving wheels with the ground to guarantee that its turning produces a displacement of the omnidirectional platform, at least one suspension device is provided on the omnidirectional platform to cushion any irregularities or bumps in the ground.
    [0061]
    [0062] Said suspension device may be integrated, for example, between each of the driving wheels and the first module, and / or between each of the rolling elements and the main frame, or between the first module and the second module.
    [0063]
    [0064] Alternatively the first module can include a segment to which the first and second drive wheels are fixed, and a second independent segment that integrates the third vertical shaft attached to the second module, the suspension device being interposed between the first and second segments.
    [0065]
    [0066] Said suspension device can be, for example, a block of elastomeric material, such as rubber or rubber, or it can consist of springs, pistons, air cushions, etc.
    [0067]
    [0068] It is also contemplated that the suspension device integrates joints about an axis parallel to the axis Y, and optionally may also integrate joints around the X axis, interposed between the segments of the first module.
    [0069]
    [0070] Any of the described embodiments of the suspension device will ensure that the first and second drive wheels have a correct contact with the ground even if it is uneven, which allows precise control of the rotation of the drive wheels to produce omnidirectional displacement in all cases. desired from the omnidirectional platform.
    [0071]
    [0072] With the correct support of the first module and the main frame being guaranteed, the subframe partially supported by the main frame can also guarantee the correct support on the ground of its two rolling elements thanks to the articulated joint.
    [0073]
    [0074] According to a further embodiment it is proposed that each rolling element be a third single or double freewheeling wheel about a fourth horizontal tree, said third wheel being self-orientating by means of a fifth vertical shaft parallel to the Z axis misaligned with respect to the center of the third wheel, said fifth shaft being free-form relative to the first module by means of a bearing. This type of wheels are the wheels known as idlers, self-steering wheels or "caster wheel".
    [0075]
    [0076] The horizontal freewheeling shaft allows the single wheel or double wheel to rotate with minimal resistance. When said wheel is attached to the first module through a fifth tree offset from the center of the single wheel or the center of the double wheel assembly, by changing the direction of displacement of the first module the single or double wheel is reoriented and aligned with the new direction of movement of the first module, allowing the free rotation of said single or double wheel.
    [0077]
    [0078] The first drive wheel, and / or the second drive wheel and / or each of the third wheels may further include a tire, either with a chamber or solid, preferably being a perimetral covering of elastomeric material such as rubber, rubber or the like.
    [0079]
    [0080] It is also proposed that the aforementioned articulated joint be arranged in an intermediate portion of the main frame located between the third shaft and the freewheeling rolling elements. This ensures that the loads supported by the sub-frame are transmitted from a central portion of the main frame, and thus transmitted approximately uniformly between their ground support points provided by the driving wheels and by the rolling elements.
    [0081]
    [0082] Preferably the omnidirectional platform will further include a position detector connected to the control device, which will be configured to determine the relative position of the omnidirectional platform with respect to fixed reference points external to said omnidirectional platform, said control device being also configured to check if a real position detected by said position detector coincides with an estimated position calculated by the control device from the displacement of the ordered platform from said control device. That is to say, the control device checks whether the actual displacement of the omnidirectional platform coincides with the displacement that has been calculated and ordered by said control device, thus allowing to detect deviations due for example to an accumulation of small errors in the displacement caused by mechanical tolerances, inaccuracies in the movement of the wheels, obstacles or unforeseen potholes in the ground, poor grip of any of the drive wheels with the ground, etc. This allows to detect deviations of the platform. The control device will also be configured to command a corrective displacement of the position of the platform based on the deviations detected, placing the platform in the correct location initially calculated.
    [0083]
    [0084] The omnidirectional platform may also include a communicating device connected to the control device, which allows the transmission and reception of data and / or control commands from the omnidirectional platform to a control center, or receive commands from a remote operator. It is also proposed that the control device be configured to communicate with other nearby omnidirectional platforms and to coordinate their displacement with the displacement of said omnidirectional platforms nearby, either to avoid collisions or jams, or to transport loads in a coordinated manner, for example. example a large load simultaneously supported on several of said omnidirectional platforms.
    [0085]
    [0086] It will be understood that geometric position references, such as parallel, perpendicular, tangent, etc. they refer to the position of the omnidirectional platform on a horizontal floor, and that they admit deviations of up to ± 5 ° with respect to the theoretical position defined by said nomenclature.
    [0087]
    [0088] Other characteristics of the invention will appear in the following detailed description of an exemplary embodiment.
    [0089]
    [0090] Brief description of the figures
    [0091] The foregoing and other advantages and features will be more fully understood from the following detailed description of an exemplary embodiment with reference to the accompanying drawings, which should be taken by way of illustration and not limitation, in which:
    [0092]
    [0093] Fig. 1 shows a bottom view of the proposed omnidirectional platform according to a first embodiment provided with an independent suspension system for each first and second driving wheels based on a block of elastomeric material;
    [0094]
    [0095] Fig. 2 shows a longitudinal section of the omnidirectional platform shown in Fig. 1, where an alternate position of the auxiliary frame pivoted about the articulated joint has been indicated in dashed line;
    [0096]
    [0097] Fig. 3 shows a bottom view of the proposed omnidirectional platform according to a second embodiment provided with an alternative suspension system consisting of a torsion axis joining a segment of the first module integrating the first and second driving wheels with another segment of the first module that integrates the third vertical tree;
    [0098]
    [0099] Fig. 4 shows a longitudinal section of the omnidirectional platform shown in Fig. 3, where an alternate position of the auxiliary frame pivoted about the articulated joint has been indicated in dashed line;
    [0100]
    [0101] Fig. 5 shows a cross section of the first embodiment of the omnidirectional platform shown in Figs. 1 and 2, where an alternative position of the auxiliary frame pivoted about the articulated joint has been indicated in dotted line;
    [0102]
    [0103] Fig. 6 shows a cross section of the second embodiment of the omnidirectional platform shown in Figs. 3 and 4, where an alternate position of the auxiliary frame pivoted about the articulated joint has been indicated in dotted line, and an alternative position of a segment of the first module pivoted about the suspension device, and wherein the control device is shown hidden to allow to see the suspension device;
    [0104]
    [0105] Fig. 7 shows a longitudinal section of the omnidirectional platform, the first module being provided with two segments connected to each other by a suspension device formed by an articulation about an axis parallel to the axis Y, and by an additional articulation articulated around the an axis parallel to the X axis, where an alternate position of the auxiliary frame pivoted about the articulated joint has been indicated in dashed line, and an alternative position of a segment of the first module pivoted about the suspension device.
    [0106]
    [0107] Fig. 8 shows a cross-section of the same omnidirectional platform shown in Fig. 7, where an alternate position of a segment of the first module pivoted about the suspension device is seen in dashed line;
    [0108]
    [0109] Fig. 9 shows the omnidirectional platform shown in Fig. 3 in an initial position of a lateral translation displacement in the direction of the X axis indicated with a straight arrow, the same omnidirectional platform in a final position of said displacement shown in trace discontinuous, as well as the trajectories that the first driving wheel must follow, and the second driving wheel from the initial position to the final position in order to achieve that the center of rotation of the omnidirectional platform moves in a straight line obtaining a lateral translation of the omnidirectional platform;
    [0110] Detailed description of an embodiment
    [0111]
    [0112] The attached figures show examples of embodiment with non-limiting illustrative character of the present invention.
    [0113]
    [0114] Figs. 1, 2 and 5 show an embodiment of the omnidirectional platform provided with a second module 2 composed of an approximately square main frame 2a to which a rectangular auxiliary frame 2b is partially superimposed, providing a loading plane where packets to be transported can be deposited.
    [0115]
    [0116] The auxiliary frame 2b is supported on the main frame by its superimposed end by an articulated joint 70, preferably on a central region of the main frame 2a. The auxiliary frame 2b is also supported, by the end not superimposed on the main frame 2a, on two free-running rolling elements 40, which in this example are two self-turning double-free wheels called third wheels 40.
    [0117]
    [0118] The main frame 2a, which receives part of the load of the auxiliary frame 2b through the articulated joint 70, is in turn supported on two other rolling elements 40, which in this example are also two self-adjusting wheels with free rotation double so-called third wheels 40, and on a first module 1 to which it is connected through a third vertical shaft 31 which is connected to a third actuator 32. Said third vertical shaft 31 defines a turning center CG of the omnidirectional platform where it is it locates a center of coordinates of three orthogonal axes X, Y and Z, being the third tree 31 concentric with the vertical Z axis.
    [0119]
    [0120] The first module 1 of the present embodiment consists of a first and a second driving wheels 10 and 20 of equal diameter, facing each other and coaxially, the first driving wheel 10 being supported by a first shaft 11 parallel to the X axis and driven by a first actuator 12. The second driving wheel 20 is supported by a second shaft 21 parallel to the X axis and driven by a second actuator 22. The first and second shafts 11 and 21 are spaced a distance D from the third shaft 31 in the direction of the Y axis .
    [0121]
    [0122] The first, second and third actuators 12, 22, 32 in this exemplary embodiment are electric motors controlled by a control device 3 arranged in said first module 1. Precise control of the actuation of the first, second and third actuators 12, 22 , 32 through control sequences calculated by the control device 3, taking into account the diameter of the first and second driving wheels 10, 20 and their distance from the center of rotation CG, allow obtaining an omnidirectional displacement of the omnidirectional platform.
    [0123]
    [0124] The third wheels 40 mentioned each have two wheels of equal diameter parallel, facing and coaxial, both supported on a fourth shaft 41 horizontal by means of bearings that allow free and independent rotation of each of said wheels. The set of the two wheels and its corresponding fourth horizontal shaft 41 is connected to the second module 2 through a fifth vertical shaft 42 parallel to the axis Z and which is offset from the center of the third wheel 40, in this case with respect to the center of the third wheel 40 double. An arm covers the distance between both fourth and fifth trees 41 and 42 by connecting them.
    [0125]
    [0126] This eccentricity of the fifth shaft 42 allows the displacement of the omnidirectional platform to cause the self-orientation of each third wheel 40 by aligning it in the direction of said displacement, thus allowing the displacement of the omnidirectional platform in that direction of displacement without friction, or with a very low friction offered by the bearings of the fourth and fifth trees 41 and 42.
    [0127]
    [0128] According to what has been described up to now, the main frame 2a is supported on two third wheels 40 and on a first and second driving wheels 10, 20, therefore said main frame 2a has four points of support on the ground and therefore Therefore, if the ground was irregular, one of the wheels could be separated from the ground. If the wheel separated from the ground were a first or second drive wheel 10, 20, the omnidirectional platform would not move correctly.
    [0129]
    [0130] Therefore, the correct contact of the first and second driving wheels 10 and 20 with the ground is vital to guarantee that the displacement obtained by the platform is omnidirectional.
    [0131]
    [0132] For this purpose, the omnidirectional platform has a suspension device 50 interposed between the first and second driving wheels 10 and 20 and the second module 2 to ensure its correct contact with the ground at all times whatever its orography.
    [0133]
    [0134] In the example shown in Figs. 1, 2 and 5 the suspension device 50 consists of an elastomeric block interposed between the third shaft 31 and the first and second shafts 11 and 21. Specifically, the first shaft 11 is mounted, with its respective bearings and supports, as well as the first actuator 12 on a support joined to the rest of the first module 1 by a block of elastomeric material that performs the functions of the suspension device 50, isolating the possible vibrations and allowing the adaptation of the position of the first driving wheel 10 to the irregularities of the ground . The same construction is applied in relation to the second driving wheel 20. It is obviously understood that the block of elastomeric material could be replaced by a system of springs, pistons, or the like.
    [0135] It is also contemplated that each third wheel 40 may also have a suspension device 50, for example the arm connecting the fourth horizontal shaft 41 and the fifth eccentric vertical shaft 42 of each of said third wheels 40 being of an elastic material, said elastic arm allowing a certain tilting of the corresponding third wheel 40 with respect to the rest of the omnidirectional platform.
    [0136]
    [0137] According to another alternative embodiment of the suspension device 50, shown in Figs. 3, 4 and 6, the first module 1 consists of two segments, one carrying the first and second driving wheels 10 and 20 and their respective first and second shafts 11 and 21 connected to the respective first and second actuators 12 and 22, and another segment of the first module 1 carrying the third vertical shaft 31 and the third actuator 32, both segments of the first module 1 being connected through a suspension device 50, which in the present embodiment consists of a torsion bar about an axis Horizontal parallel to the Y axis, but which supports other constructions such as an elastomeric block, an articulated joint and springs or pistons connecting both segments, or another equivalent solution. Said suspension device allows the carrier segment of the first and second driving wheels 10 and 20 to be pivotable with respect to the other segment of the first module 1, and therefore with respect to the rest of the omnidirectional platform, about a horizontal axis parallel to the axis Y (in the manner shown in FIG. 6 in dashed line), thus adapting the position of the first and second driving wheels 10 and 20 to possible irregularities of the ground ensuring its constant contact with the ground.
    [0138] A variant of the last described embodiment is shown in FIGS. 7 and 8, where an omnidirectional platform as described is shown, equipped with a suspension device that integrates a torsion bar around an axis parallel to the Y axis, but which it also integrates another articulation around the X axis, allowing the segment of the first module 1 carrying the first and second driving wheels 10 and 20 to pivot about the X axis and the Y axis, thus adapting its position to the ground, in any circumstance, ensuring correct contact of the first and second driving wheels 10 and 20 with the ground.
    [0139]
    [0140] In any of the embodiments of the omnidirectional platform described and shown in Figs. 1 to 9, the articulated joint 70 between the auxiliary frame 2b and the main frame 2a described above consists, in these examples, of a hinge around a horizontal pin that allows the auxiliary frame 2b to change the angle it forms with respect to the main frame 2a as shown in dotted line in Figs. 2, 4 and 7.
    [0141]
    [0142] It is also proposed that the articulated joint 70 may further include another joint about another horizontal pin arranged in a direction perpendicular to the pin of the other joint of the articulated joint, also allowing the auxiliary frame 2b to pivot laterally with respect to the main frame 2a, such and as shown in dashed line in Figs. 5 and 6. As seen in Fig. 8 this feature is not included in the embodiment shown in Figs. 7 and 8.
    [0143]
    [0144] The suspension device 50 described above ensures that the first and second driving wheels 10 and 20 are in perfect contact with the ground, and that the main frame 2a rests on all of its wheels and rolling elements 40. The use of an articulated joint 70 between the main frame 2a and the auxiliary frame 2b equipped with two joints allows adapting the position of the auxiliary frame 2b to any orography ensuring a permanent contact of its two third wheels 40 on the ground, its third point of support being the articulated joint 70, thus achieving support at three points that is always stable.
    [0145]
    [0146] An alternative embodiment the articulated joint 70 described above could be provided with only one of said two articulations around horizontal pins. In such a case permanent contact of the two third wheels 40 of the auxiliary frame 2b on the ground would not be ensured in some specific cases, depending on the terrain relief, but the described construction of the main frame 2a and the first module 1 provided with 50 suspension ensure that in all cases the correct contact with the ground of the first and second driving wheels 10 and 20, which are those that print movement to the omnidirectional platform. Therefore, in this embodiment, one of the third wheels 40 of the auxiliary frame 2b may not have a correct contact with the ground at specific moments will not affect the contact with the ground of the first and second driving wheels 10 and 20, and therefore it will not affect the displacement of the omnidirectional platform, avoiding any problem with the control and displacement of said platform on uneven terrains even in this alternative embodiment of the articulated joint 70 provided with a single articulation around a single horizontal pin.
    [0147]
    [0148] Obviously other constructions of the articulated joint 70 with an equivalent freedom of movement would be obvious to a person skilled in the art without the need to apply any inventive activity.
    [0149]
    [0150] It will be understood that the different parts constituting the invention described in one embodiment can be freely combined with the parts described in other embodiments. different even if the combination has not been explicitly described, provided that there is no harm in the combination.
    权利要求:
    Claims (9)
    [1]
    1. Omnidirectional platform comprising:
    a first module (1) that defines a center of rotation (CG) of the omnidirectional platform in which a coordinate origin is placed with an X axis, a Y axis and a Z axis orthogonal to each other, said first module ( 1) endowed with:
    at least one first drive wheel (10) connected to a first horizontal shaft (11) parallel to the X axis and a second driving wheel (20) connected to a second horizontal shaft (21) parallel to the X axis, both being first and second coplanar trees (11, 21) with the same plane parallel to the axis Z, said plane being spaced a distance D from the axis Z, the first drive wheel (10) being actuated by a first actuator (12), and the second drive wheel being (20) actuated by a second actuator (22);
    a second horizontal module (2) connected to said first module (1) by means of a third vertical shaft (31) coaxial with the Z axis, the relative rotation of the second module (2) and the first module (1) being operated by a third one actuator (32);
    a control device (3) connected to the first, second and third actuators (12, 22, 32) to control its coordinated actuation configured to obtain an omnidirectional displacement of the platform by means of precise control of the displacement of the center of rotation (CG), obtained by actuating the first and second actuators (12, 22), and by precise control of the orientation of the second module (2) by the precise actuation of the third actuator (32);
    characterized because
    the second module (2) is composed of a main frame (2a) and an auxiliary frame (2b) hinged together by an articulated joint (70), the main frame (2a) being supported on the third vertical shaft (31) of the first module (1) and also supported on two rolling elements (40) of free rotation and self-adjustable, and the auxiliary frame (2b) being supported on the articulated joint (70) and on two rolling elements (40) of free rotation and self-adjustable;
    wherein the auxiliary frame (2b) is partially superimposed on the main frame (2a) defining a load plane, the articulated joint (70) being provided with a degree of freedom around a horizontal axis, or having two degrees of freedom around it of two horizontal articulation axes orthogonal to each other, wherein between the first and second driving wheels (10, 20) and the main frame (2a), and / or between the two rolling elements (40) of free rotation of the main frame (2a) and the main frame (2a) itself is interposed by at least one suspension device (50).
    [2]
    2. Omnidirectional platform according to claim 1 wherein, each rolling element (40) is a third wheel (40) single or double free rotation around a fourth horizontal shaft (41), said third wheel (40) self-adjustable by means of a fifth vertical shaft (42) parallel to the axis Z offset from the center of the third wheel (40), said fifth shaft (42) being free-standing relative to the rest of the omnidirectional platform by means of a bearing.
    [3]
    3. Omnidirectional platform according to claim 2 wherein the first drive wheel (10), and / or the second drive wheel (20) and / or each of the freewheeling third wheels (40) include a tire.
    [4]
    4. Omnidirectional platform according to claim 1, 2 or 3 wherein said at least one suspension device (50) includes a hinge articulated about an axis parallel to the axis Y.
    [5]
    5. Omnidirectional platform according to claim 1, 2, 3 or 4 wherein said at least one suspension device (50) includes a hinge articulated about an axis parallel to the axis X.
    [6]
    Omnidirectional platform according to any one of the preceding claims, wherein said at least one suspension device (50) is a block of elastomeric material connecting two independent segments of the platform, a carrier segment of the first driving wheel (10), of the second driving wheel (20) or of a rolling element (40), and the other segment integrating at least the main frame (2a).
    [7]
    Omnidirectional platform according to any one of claims 1 to 5 above, wherein said at least one suspension device (50) consists of springs or springs connecting independent segments of the omnidirectional platform articulated with each other, a segment carrying the first drive wheel (10), the second drive wheel (20) or a rolling element (40) and the other segment integrating at least the main frame (2a).
    [8]
    Omnidirectional platform according to any one of the preceding claims, wherein the articulated joint (70) is arranged in an intermediate portion of the main frame (2a) located between the third shaft (31) and the rolling elements (40) of rotation free.
    An omnidirectional platform according to any one of the preceding claims, wherein a position detector connected to the control device (3) is also included, configured to determine the relative position of the platform with respect to fixed reference points external to said platform omnidirectional, said control device (3) being configured to check whether a real position detected by said position detector coincides with an estimated position calculated by the control device from the displacement of the omnidirectional platform ordered from said control device (3). ), detecting deviations of the omnidirectional platform, and the control device (3) being configured to command a corrective displacement of the position of the omnidirectional platform based on the deviations detected.
    [9]
    9. Omnidirectional platform according to any one of the preceding claims, wherein a communicating device connected to the control device (3) that allows the transmission and reception of data and / or control commands is also included.
    Omnidirectional platform according to claim 9 wherein the control device is configured to communicate with other nearby omnidirectional platforms and to coordinate their displacement with the displacement of said omnidirectional nearby platforms.
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    同族专利:
    公开号 | 公开日
    ES2699407B2|2020-03-13|
    WO2019020862A1|2019-01-31|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4128137A|1976-02-24|1978-12-05|National Research Development Corporation|Peripatetic vehicles|
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    EP1640255A1|2003-04-08|2006-03-29|Gabriel Benet Soler|Articulated vehicle|
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    JP2005306178A|2004-04-21|2005-11-04|Symtec Hozumi:Kk|Unmanned truck|
    JP6468127B2|2015-08-26|2019-02-13|トヨタ自動車株式会社|Omnidirectional moving body, control method and program thereof|DE102019112870A1|2019-05-16|2020-11-19|Homag Automation Gmbh|Compensation unit for a driverless transport system and method for transporting a storage facility|
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    法律状态:
    2019-02-11| BA2A| Patent application published|Ref document number: 2699407 Country of ref document: ES Kind code of ref document: A1 Effective date: 20190211 |
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201730977A|ES2699407B2|2017-07-26|2017-07-26|OMNIDIRECTIONAL PLATFORM|ES201730977A| ES2699407B2|2017-07-26|2017-07-26|OMNIDIRECTIONAL PLATFORM|
    PCT/ES2018/070535| WO2019020862A1|2017-07-26|2018-07-26|Omnidirectional platform|
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